Tyler Veness c8ea1b6c38 [wpilib] Add function to adjust LQR controller gain for pure time delay (#2878) ...

There were three options for where to put this function:

1. A free function in LinearQuadraticRegulator.h. Returning a K matrix
   means the user can't use the LinearQuadraticRegulator in a loop
   anymore.
2. A default argument added to ctors in LinearQuadraticRegulator for a
   time delay (default of 0). This has the smallest API footprint from
   the user perspective, but it bloats the already substantial
   constructor overload set of LinearQuadraticRegulator.
3. A member function in LinearQuadraticRegulator that modifies the
   internal K. This would still have to take in a LinearSystem or (A, B)
   pair because the ctor doesn't store it. Storing it internally feels
   like paying for what we don't use most of the time.

I went with option 3.

I verified the tests's expected values in Python with
scipy.linalg.fractional_matrix_power().

Closes #2877.

2020-11-20 15:28:00 -08:00

..

ControlAffinePlantInversionFeedforwardTest.cpp

[wpimath] Add core State-space classes (#2614)

2020-08-14 23:40:33 -07:00

LinearPlantInversionFeedforwardTest.cpp

[wpimath] Add core State-space classes (#2614)

2020-08-14 23:40:33 -07:00

LinearQuadraticRegulatorTest.cpp

[wpilib] Add function to adjust LQR controller gain for pure time delay (#2878)

2020-11-20 15:28:00 -08:00